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<div class="title">D:/Workspace/Arduino/prencar/LineCenter.h</div>  </div>
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<a href="_line_center_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="preprocessor">#ifndef LineCenter_h</span>
<a name="l00002"></a>00002 <span class="preprocessor"></span><span class="preprocessor">#define LineCenter_h</span>
<a name="l00003"></a>00003 <span class="preprocessor"></span>
<a name="l00004"></a>00004 <span class="preprocessor">#include &quot;Arduino.h&quot;</span>
<a name="l00005"></a>00005 <span class="preprocessor">#include &quot;<a class="code" href="_line_follow_8h.html">LineFollow.h</a>&quot;</span>
<a name="l00006"></a>00006 <span class="preprocessor">#include &quot;<a class="code" href="_extended_move_8h.html">ExtendedMove.h</a>&quot;</span>
<a name="l00007"></a>00007 
<a name="l00019"></a><a class="code" href="class_line_center.html">00019</a> <span class="keyword">class </span><a class="code" href="class_line_center.html" title="The LineCenter class centers the car on the line.">LineCenter</a> : 
<a name="l00020"></a>00020 <span class="keyword">public</span> <a class="code" href="class_line_follow.html">LineFollow</a>
<a name="l00021"></a>00021 {
<a name="l00022"></a>00022 <span class="keyword">public</span>:
<a name="l00023"></a>00023   <a class="code" href="class_line_center.html#adee08b78d744f632971ae14d653f36a0">LineCenter</a>();
<a name="l00024"></a>00024   <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_line_center.html#a13e69abdd08c2da81f189e69642d980d">begin</a>();
<a name="l00025"></a>00025   <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_line_center.html#aa466b77cad70e564633e106efde81d4f">doJob</a>();
<a name="l00026"></a>00026   <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_line_center.html#a736d4cd402c6dc398b374cae8aab5740">startIt</a>(<span class="keywordtype">boolean</span> comingFromLeft);
<a name="l00027"></a>00027 
<a name="l00033"></a><a class="code" href="class_line_center.html#a56e3c04c97ecffaa6cd16a16d37992bc">00033</a>   <span class="keywordtype">boolean</span> <a class="code" href="class_line_center.html#a56e3c04c97ecffaa6cd16a16d37992bc" title="This variable is set to true as soon as the car is centered completely.">lineCenteringIsFinished</a>;
<a name="l00034"></a>00034 <span class="keyword">private</span>:
<a name="l00035"></a><a class="code" href="class_line_center.html#a9b09f8967dc05aa2e65db23b7eb0af47">00035</a>   <a class="code" href="class_extended_move.html" title="Allows to define extended car control instuctions.">ExtendedMove</a>* <a class="code" href="class_line_center.html#a9b09f8967dc05aa2e65db23b7eb0af47" title="The reference to the extended move class.">_extMove</a>; 
<a name="l00036"></a>00036 
<a name="l00040"></a><a class="code" href="class_line_center.html#a9e851823c54f01bada030c9bd195e059">00040</a>   <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code" href="class_line_center.html#a9e851823c54f01bada030c9bd195e059">_timeLineCenterStarted</a>;
<a name="l00041"></a>00041 
<a name="l00042"></a><a class="code" href="class_line_center.html#adb6c4b5e11d9a309fb994e8fd02c630e">00042</a>   <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code" href="class_line_center.html#adb6c4b5e11d9a309fb994e8fd02c630e" title="Holds the timestamp of the time when the last curve left check was done.">_timeLastLineCenterCheck</a>; 
<a name="l00043"></a>00043 
<a name="l00048"></a><a class="code" href="class_line_center.html#a19b97d1ed9c6db5886e93f03456751b4">00048</a>   <span class="keywordtype">boolean</span> <a class="code" href="class_line_center.html#a19b97d1ed9c6db5886e93f03456751b4">_centeringFromLeft</a>;
<a name="l00049"></a>00049 
<a name="l00050"></a>00050   <span class="keywordtype">void</span> <a class="code" href="class_line_center.html#a4496fa59d40b06887e2dbc881b9b4ce7">doCorrection</a>();
<a name="l00051"></a>00051 
<a name="l00052"></a>00052 
<a name="l00053"></a>00053 };
<a name="l00054"></a>00054 <span class="preprocessor">#endif</span>
<a name="l00055"></a>00055 <span class="preprocessor"></span>
<a name="l00056"></a>00056 
<a name="l00057"></a>00057 
<a name="l00058"></a>00058 
<a name="l00059"></a>00059 
<a name="l00060"></a>00060 
<a name="l00061"></a>00061 
<a name="l00062"></a>00062 
<a name="l00063"></a>00063 
<a name="l00064"></a>00064 
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